CARLETON UNIVERSITY

Department of Mechanical and Aerospace Engineering

MAAE 3004 - Dynamics of Machinery
ASSIGNMENT 1
Introduction
1. For each of the planar linkages shown below, determine the number of links, number
and types of kinematic pairs, and mobility. Show the equations used to determine your
answers.
Answer: (a) n = 9, j1 = 11, j2 = 0, m = 2; (b) n = 11, j1 = 14, j2 = 0, m = 2

K.J. Waldron and G.L. Kinzel.Kinematics, Dynamics, and Design of Machinery. John Wiley and Sons Inc., 2nd edition, 2004.

2. For each of the planar linkages shown below, determine the number of links, number
and types of kinematic pairs, and mobility. Show the equations used to determine your
answers.
Answer: (a) n = 11, j1 = 13, j2 = 1, m = 3; (b) n = 7, j1 = 9, j2 = 0, m = 0;
(c) n = 8, j1 = 10, j2 = 0, m = 1

K.J. Waldron and G.L. Kinzel.Kinematics, Dynamics, and Design of Machinery. John Wiley and Sons Inc., 2nd edition, 2004.

3. For the planar four-bar linkages shown below, indicate whether they satisfy the Grashof
criterion and whether they are crank-rocker, double-crank, or double-rocker mechanisms.
Answer: (a) yes, crank-rocker; (b) no, double-rocker; (c) yes, double-crank a.k.a. draglink

K.J. Waldron and G.L. Kinzel.Kinematics, Dynamics, and Design of Machinery. John Wiley and Sons Inc., 2nd edition, 2004.